Universal balancing controller for lateral stabilization of bipedal robots in dynamic unstable environments

摘要

A robot, such as a bipedal robot, that includes three or more rigid links such as two legs and a pelvis. The robot includes joints pivotally connecting pairs of the rigid links and an actuator associated with each of the joints. The robot includes a universal balancing controller with an output feedback control module providing control signals to selectively drive the actuators to balance the robot on a support element which may be configured to provide a dynamic, unstable environment or to provide a static, stable environment. During use, the control signals are generated in response to processing of global robot data from sensors associated with the rigid links or the joints. The control signals are generated by the output feedback control module without any need for measurements of the support element or without any measurement of a dynamic environment.

主权项

1. A robot, comprising:
three or more rigid links; joints pivotally connecting pairs of the rigid links; and an actuator associated with each of the joints; and a universal balancing controller comprising an output feedback control module providing control signals to selectively drive the actuators to balance the robot on a support element, wherein the control signals are generated in response to processing of global robot data from sensors associated with the rigid links or the joints, wherein the universal balancing controller acts as a standalone controller that generates the controls signals so as to stabilize the robot in different stable and unstable environments, wherein the support element comprises a dynamic, unstable environment such that the universal balancing controller stabilizes the robot in the dynamic, unstable environment, wherein the dynamic environment comprises a bongo board, a seesaw, or a board balanced upon a curved, stable floor, and wherein the robot is positioned and balancing on the bongo board, the seesaw, or the board balanced upon the curved, stable floor.